This error was really aggravating to me. Mainly because it was self inflicted. What does the error message "Authentication token manipulation error" mean? Here is what it means, per Cisco:
In order to solve this issue, use default password (cisco) two times and then change the password from the config mode. The IDS requires the default password to be entered twice.
I did the above and it works. I guess I wasn't paying attention.
Enter current password:cisco
Enter new password: ***
Re-enter new password: ***
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